An Approach to Human Walking Analysis Based on Balance, Symmetry and Stability Using COG, ZMP and CP

Kim, Seonghye; Murakami, Toshiyuki

doi:10.3390/app10207307

Cited by 5 publications

(3 citation statements)

References 30 publications

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“…He extended and used this criterion on a humanoid on flat ground, to climb stairs, or on uneven ground [105]. We can also note the crossing point (CP) proposed by Kim and collaborators [106] and the foot rotation indicator (FRI) proposed by Goswani and their colleagues as another index used [107].…”

Section: Symmetry/asymmetry From Robotic Point Of Viewmentioning

confidence: 97%

From Neural Command to Robotic Use: The Role of Symmetry/Asymmetry in Postural and Locomotor Activities

et al. 2021

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This article deepens a reflection on why and how symmetry/asymmetry affects the motor and postural behavior from the neural source, uterine development, child maturation, and how the notion of symmetry/asymmetry has been applied to walking robot design and control. The concepts of morphology and tensegrity are also presented to illustrate how the biological structures have been used in both sciences and arts. The development of the brain and the neuro-fascia-musculoskeletal system seems to be quite symmetric from the beginning of life through to complete maturity. The neural sources of movements (i.e., central pattern generators) are able to produce both symmetric or asymmetric responses to accommodate to environmental constraints and task requirements. Despite the fact that the human development is mainly symmetric, asymmetries already regulate neurological and physiological development. Laterality and sports training could affect natural musculoskeletal symmetry. The plasticity and flexibility of the nervous system allows the abilities to adapt and compensate for environmental constraints and musculoskeletal asymmetries in order to optimize the postural and movement control. For designing humanoid walking robots, symmetry approaches have been mainly used to reduce the complexity of the online calculation. Applications in neurological retraining and rehabilitation should also be considered.

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Section: Symmetry/asymmetry From Robotic Point Of Viewmentioning

confidence: 97%

From Neural Command to Robotic Use: The Role of Symmetry/Asymmetry in Postural and Locomotor Activities

et al. 2021

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“…Initially, the ZMP method was applied to analyze the stability of humanoid robots, specifically bipedal robots. [ 104 ] Subsequently, this approach was also introduced for ensuring stability control in quadruped robots.…”

Section: Control Of Quadruped Robotsmentioning

confidence: 99%

A Review of Quadruped Robots: Structure, Control, and Autonomous Motion

Fan,

Pei,

Wang

et al. 2024

Advanced Intelligent Systems

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With their unique point‐contact ability with the ground and exceptional adaptability to complex terrains, quadruped robots have become a focal point in the fields of automation and robotic engineering. Significant research progress has been made in aspects such as structural design, motion planning, and balance control of these robots. However, a primary challenge in current research lies in further enhancing the dynamic performance, environmental adaptability, and payload capacity. In this article, research achievements in key technical areas of quadruped robots, encompassing structural design, gait planning, traditional control strategies, intelligent control strategies, and autonomous movement, are comprehensively discussed. The focus of the article is on analyzing trends in intelligence and technological innovation within the aforementioned areas, aiming to provide robust theoretical support and forward‐looking technical guidance for quadruped robots research. Additionally, it offers valuable references for scholars engaged in this field.

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“…Lemahnya core stability yang akan berpengaruh terhadap penurunan keseimbangan dan stabilitas. Apabila stabilitas buruk, maka Center of Mass (COM) dan Center of Gravity (COG) tidak dapat dipertahankan diatas Base of Support (BOS), sehingga akan menggangu keseimbangan (Kim & Murakami, 2020).…”

Section: Pendahuluanunclassified

Perbedaan Hubungan Fungsi Sensoris Dan Core Stability Terhadap Keseimbangan Dinamis Pada Anak Usia 3-5 Tahun Di Al-Fatih Center Tangerang

Trioclarise,

Sitompul,

Syakib

2022

JFKI

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Latar Belakang: Masalah keseimbangan dapat terjadi pada anak usia dini karena adanya masalah pada fungsi sensoris dan lemahnya core stability. Tujuan penelitian ini untuk mengetahui perbedaan hubungan fungsi sensoris dan core stability terhadap keseimbangan dinamis pada anak usia 3-5 tahun di Al-Fatih Center Tangerang tahun 2022. Metode Penelitian: Jenis penelitian ini merupakan observasional desain studi cross sectional. Populasi penelitian ini adalah anak usia 3-5 tahun di Al-Fatih Center Tangerang dengan jumlah sampel 82 orang. Pada penelitian ini dilakukan tes menggunakan Sensory Processing Measure- Preschool untuk mengetahui kondisi fungsi sensoris, Supine Flexion untuk mengetahui kondisi core stability, dan Pediatric Balance Scale untuk mengetahui keseimbangan dinamis. Hasil: Hubungan fungsi sensoris dan core stability terhadap keseimbangan dinamis (p-value 0.000) dan standardized coefficients beta pada core stability sebesar 0.312. Simpulan: Core stability lebih berpengaruh daripada fungsi sensoris terhadap keseimbangan dinamis

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An Approach to Human Walking Analysis Based on Balance, Symmetry and Stability Using COG, ZMP and CP

Cited by 5 publications

References 30 publications

From Neural Command to Robotic Use: The Role of Symmetry/Asymmetry in Postural and Locomotor Activities

From Neural Command to Robotic Use: The Role of Symmetry/Asymmetry in Postural and Locomotor Activities

A Review of Quadruped Robots: Structure, Control, and Autonomous Motion

Perbedaan Hubungan Fungsi Sensoris Dan Core Stability Terhadap Keseimbangan Dinamis Pada Anak Usia 3-5 Tahun Di Al-Fatih Center Tangerang

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